Professional Documents
Culture Documents
S7-1200 Configuration..................................................................................................................................... 18
S7-1200 Configuration..................................................................................................................................... 23
Appendix ................................................................................................................................................................ 40
Hardware Overview.............................................................................................................................................. 42
Revision History.................................................................................................................................................... 93
1
Introduction
1.1 HMK Automation & Drives
Introduction 1
1.1 HMK Automation & Drives
HMK Automation & Drives is the largest Integrated Drive Systems provider in the UK. We offer a diverse
range of general and high performance variable speed drives, motors, gearboxes and other mechanical
components as well as complete hardware & software solutions.
With a myriad of standard applications, fully supported with real world drives experience and an
extensive mechanical offer, HMK Automation & Drives is uniquely positioned to support and partner
OEMs and System Integrators alike.
The systems offered by HMK make the specification, purchase, implementation, operation and
maintenance of any drive system faster and easier than ever before. HMK provides a single point of
contact for all our customers' needs. We offer true added value, greater reliability, higher efficiency and
superior productivity in any automation environment and throughout the entire life cycle.
Our Key global supplier partners represent the very best products and technologies within the
automation market today
Engineering Team
HMK’s engineering team is experienced with a broad range of automation products, including Siemens
Simotion, SINAMICS S, SINAMICS G, SINAMICS V, SIMATIC S7-1500, S7-1200, S7-400, S7-300 PLCs
and HMIs.
As well as delivering training courses, HMK engineers develop drive-based solutions for customer and
can assist with on-site commissioning and trouble shooting.
Further Information
HMK’s website contains information on our products and services, as well as links to
product documentation. The website also has enquiry forms and a live chat tool.
http://www.hmkdirect.com/
Location
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Introduction
1.1 HMK Automation & Drives
HMK Automation & Drives is located in Congleton, Cheshire.
Further Information
http://www.hmkdirect.com/contact/
Further Information
https://goo.gl/maps/1Md93
Further Information
https://goo.gl/maps/WH5i3
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Introduction
1.2 Aim Summary
1.2 Aim Summary
The purpose of this document is to guide the user through the set-up for control of a SINAMICS V90
drive using S7-1200 PLC technology objects via pulse train output (PTO). Included is a guide to wiring,
drive configuration, drive tuning and commissioning, S7-1200 configuration, and programming. This
document is supported by a series of screen casts, which can be viewed by scanning the QR code at the
bottom of this page.
See the table below for required and optional items needed to complete this application demo. You will
also need a PG/PC with V-ASSISTANT and TIA Portal installed. V-ASSISTANT is a free software package
from Siemens.
V-ASSISTANT Download
Download the free SINAMICS V90 commissioning tool from the Siemens Website.
https://support.industry.siemens.com/cs/document/109738387
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Introduction
1.2 Aim Summary
Screen Casts
HMK’s website contains information on our products and services, as well as links to
product documentation. The website also has enquiry forms and a live chat tool.
https://www.hmkdirect.com/products/drives/discontinuous-motion/basic/sinamics-v90/
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Application Wiring
2.1 Application Wiring Diagram
Application Wiring 2
2.1 Application Wiring Diagram
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Application Wiring
2.2 E-Stop Wiring for on-board V90 STO
Note If the signal board is to be used then please refer instead to the wiring diagram in
Appendix A0.
If you wish to wire your estop to perform a safe torque off (STO), rather than an OFF3/fast-ramp stop
(as per this application demo) then you will need to wire +24VDC to the EMGS input of the SINAMICS
V90, and wire your estop directly to the STO interface of the SINAMICS V90, as shown below.
Note The safe torque off (STO) function can stop a motor using safety relays without
involving any upper level control. It is disabled in the factory configuration by short-
circuiting the STO
terminals. The safety function of the servo drive is SIL 2 (EN61800-5-2). Connect the
STO terminals as the actual requirements.
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Application Wiring
2.2 E-Stop Wiring for on-board V90 STO
Further Information
The V-ASSISTANT Manual contains more detailed information about the V-
ASSISTANT software and the commissioning of a SINAMICS V90 drive. Download
V-ASSISTANT at:
https://support.industry.siemens.com/cs/gb/en/view/109480674
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Drive Configuration
3.1 Inserting the Drive
Drive Configuration 3
3.1 Inserting the Drive
To start, attach the SINAMICS V90 drive to the PG/PC using a mini USB cable, and open V Assistant.
The following window will appear (it may take a few seconds to recognise the drive). Select the drive
form the online list, and select OK.
Use the button highlighted below to open the motor selection window. Select the motor based on the
part number.
Once, the motor has been selected, set the control mode to Pulse Train Input (PTI) from the drop down
box:
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Drive Configuration
3.2 Configuring the Drive
The drive needs to be told how many pulses it will receive to perform one revolution of the motor shaft.
This value needs to be scaled based on the maximum speed, and the maximum pulse frequency the PLC
can output:
60 × 𝑓𝑚𝑎𝑥
𝑝𝑝𝑟𝑚𝑎𝑥 =
𝑛𝑚𝑎𝑥
Where nmax is the maximum speed of the motor, or mechanics in rpm and fmax is the maximum pulse
frequency available from the selected PTO output (see Appendix A1.1). E.g. for a max speed of 5000
rpm, with a maximum pulse frequency of 100KHz, the ppr = 1200.
Once calculated, this value needs to be entered into p29011, which is accessible via the ‘Set electronic
gear ratio’ sub-tab, under the ‘Parameterize’ tab.
Signal Selection
Ensured that the ‘Signal form selection’ is set to ‘Pulse + Direction Positive’, and that the ‘Signal level
selection’ is set to ‘24V single end’. Both can be found in sub-tab ‘Set parameter setpoint’, under tab
‘Parameterize’.
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Drive Configuration
3.2 Configuring the Drive
To assign DI, select the cell located in the column of the required DI and the row of the required
parameter, and select ‘Assign’ from the drop-down list. To remove assignments, select the existing
assignment and select ‘Cancel’ form the drop-down list.
As default, a number of DI assignments are set which are not of use in this example. Make the following
assignments in the ‘Configure inputs/outputs’ sub-tab, under the ‘parameterize’ tab:
CWL and CCWL (clockwise and counter-clockwise limits) are the inputs for the drive hardware limits.
For this example, we are going to wire the CW and CCW hardware limits to the PLC and link these to the
technology object for the axis. The benefit of this method over wiring directly to the SINAMICS V90
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Drive Configuration
3.2 Configuring the Drive
inputs is that this will allow the PLC program to see the state of the hardware limits, and react to them
accordingly.
Ensure to tick the checkboxes for CWL and CCWL in the “Set to 1” column. This tells the SINAMICS V90
that the drive hardware limits are always in the “healthy” state.
Use the table in the following section to relate DI number to the associated pin of the 50-pin MDR
connector (X8 Interface).
The DO are assigned in the same fashion as the DI. The default DO assignments are suitable for use in
this example. Please ensure that the digital outputs match below:
Use the following table to relate DO number to the associated pin of the 50-pin MDR connector (X8
Interface).
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Drive Configuration
3.2 Configuring the Drive
Jog the Motor
Once the above steps are complete, it will be possible to jog the drive using the control panel on the
‘select drive’ screen. Select the ‘Servo on’ button to enable the drive, this will open a dialogue box which
requires the user aknolwegement before the drive will become enabled. A speed can then be entered,
and the motor can be run using the forward and reverse buttons.
Note At this point it is assumed that the SINAMICS V90 drive has an AC supply, the safety
inputs are healthy, and that it is safe to move the axis.
All changes that are made whilst online to the drive will be saved in the drive units RAM (volatile-
memory). This means that these changes will be lost if the drive loses power. In order to save the
changes made to the drive, you will need to perform the ‘Save Parameters to ROM’ function in order to
save the parameters to the non-volatile memory in the drive. Do this by selecting ‘Tools’ form the menu
bar, and clicking on ‘Save Parameters to ROM’, alternatively, you can click the appropriate button from
the toolbar .
If the project was configured offline, the new parameter set will need to be downloaded to the drive. To
do this, connect the drive to the PG/PC via USB, and select from the tool bar to go online. V
ASSISTANT will then scan the parameters currently in the drive and compare them to what is in the
project and provide the user with a list of differences:
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Drive Configuration
3.3 Tuning the Drive
Select PC to drive to copy the parameter set to the drive. Once this is complete, perform a ‘save
parameters to ROM’ as described above.
The SINAMICS V90 supplies two auto-tuning modes: one-button auto tuning and real-time auto tuning.
The auto tuning function can optimize control parameters with ratio of machine load moment of inertia
(p29022) and set suitable current filter parameters to suppress the machine resonance automatically.
You can change the dynamic performance of the system by setting different dynamic factors.
The tuning section is found in the Optimize Drive section of the Commission tab within V-ASSISTANT.
Note
For more tuning methods including the one-button auto-tuning, see appendix A4.
Real-Time Auto-Tuning
Real-time auto tuning estimates the machine load moment of inertia automatically while the drive is
running with the host controller command. After enabling the servo on (SON), the real-time auto tuning
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Drive Configuration
3.3 Tuning the Drive
function stays effective for the servo drive. If you do not need to estimate the load moment of inertia
continuously, you can disable the function when the system performance is acceptable.
Note Under operating conditions that impose sudden disturbance torque during
acceleration/deceleration or on a machine that its rigidity is poor, auto tuning may not
function properly, either. In such cases, use one-button auto tuning or manual tuning
to optimize the drive.
2. Click on the following button to configure the parameters for the real-time auto tuning function.
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Drive Configuration
3.3 Tuning the Drive
3. Set the parameters in the window below:
Set the ratio of machine load moment of inertia (p29022) with either of the following methods:
4. Click the following button to enable the tuning function after the parameters have been set.
5. Perform the servo on for the drive via the host controller to start the tuning.
For example, you can use the following method to run the motor:
Implement servo on for the drive with the Jog function in V-ASSISTANT.
Enter a speed for the motor and press and hold a direction button to run the motor.
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Drive Configuration
3.3 Tuning the Drive
6. To achieve the desired system performance, you can change the dynamic factors or related
configuration parameters during tuning.
7. If the drive performance is acceptable, disable the tuning function by servo off and set p29021 =
0.
8. Copy the tuned parameters from RAM to ROM to save them (see section 3.1, ‘Save parameters
to ROM’).
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Controller Configuration
4.1 S7-1200 Configuration
Controller Configuration 4
4.1 S7-1200 Configuration
When a new project is first created, TIA portal will change to the “Devices and networks” tab of the
portal view. New devices can be added by clicking on “Add new device”, selecting the type of device
(Controller, HMI, PC system or Drive) and then traversing down the product tree until the exact part
number of the device is found. The firmware version of the device must match that of the actual
hardware.
Note New part numbers and firmware versions may require the latest version of TIA portal.
If the hardware that you have is not available from the list, then TIA portal may need to
be updated.
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Controller Configuration
4.1 S7-1200 Configuration
The name of the new device can then be modified and the device added to the project with the “Add”
button.
Devices can also be added in this way from the “Project View” by double clicking “Add new device
” in the project tree.
Alternatively devices can be added by navigating to the “Devices & networks view” and dragging the
relevant part number from the “Hardware catalogue” to empty space in the “Network view”.
Double clicking on an object in the “Devices & networks” view opens the object in the “Device view
”. The IP address and subnet mask can then be set for each interface by highlighting the interface by
clicking on it and editing its address in the “Properties” view, as shown below. Scroll down when in
this section to set the Profinet name of the device.
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Controller Configuration
4.1 S7-1200 Configuration
To represent your PLC’s physical hardware configuration in the programming environment modules
must be dragged from the “Hardware catalog” in the “Device view” and dropped in the relevant slot.
Ensure that the Filter checkbox is ticked to filter the catalog by available hardware only.
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Controller Configuration
4.1 S7-1200 Configuration
Adding a Signal Board (Optional)
The digital outputs of the SINAMICS V90 unit are sinking outputs, which means that the digital inputs of
the S7-1200 PLC are required to be wired as sourcing inputs. This will then require that all digital inputs
to the PLC (not just those from the SINAMICS V90) be wired as sourcing inputs. The DI 4x24VDC signal
board unit for the S7-1200 PLC (6ES7 221-3BD30-0XB0) is configured, by default, to accept sourcing
inputs. Adding this signal board to the PLC gives the added benefit of accepting the SINAMICS V90
sinking outputs, without any wiring changes, whilst allowing all other digital inputs to the PLC to be
wired as standard (sinking) inputs.
To insert a signal board, select the correct device (based on the part number) form the “Hardware
Catalog”, and drag into the centre of the PLC:
Once the signal board has been inserted into the project, the start address of the inputs needs to be
found for use in the technology object set-up. This can be found by double clicking the inserted signal
board in the centre of the PLC, and selecting ‘IO Addresses’ in the ‘Properties’ tab, as highlighted below.
This is the start address for the inputs, so for a 4 input signal board, the input addresses will in this case
be I4.0 - I4.3.
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Controller Configuration
4.1 S7-1200 Configuration
Note If using the signal board option, please refer to the wiring diagram found in Appendix
A0.
In order to save the PLC configuration into the device, you will need to perform a download to the PLC.
To download to the PLC, ensure that the PLC is highlighted in the project tree and click the button
in the toolbar. You will need to be offline to the PLC in order to perform a complete download.
The first time you download to the PLC you will need to select the device you wish to download to.
Begin by clicking the ‘Start Search’ button in the window that opens, this will scan the configured
interface for Siemens PLC devices. Ensure that your desired PLC is highlighted in the ‘Compatible
devices in subnet’ table then click the Load button.
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Drive Control Strategy
5.1 S7-1200 Configuration
Technology objects represent each of the real objects (e.g. a drive) in the controller. You can call the
functions of the technology objects by means of Motion Control instructions in your user program. The
technology objects provide open and closed-loop control of the movement of the real objects, and report
status information (e.g. the current position). The configuration of the technology objects reflects the
properties of the real object. The configuration data are stored in a technology data block.
The positioning axis technology object calculates position setpoints, taking account of the specified
dynamics, and outputs corresponding speed control setpoints to the drive. All movements of the
positioning axis occur under position control. For absolute positioning, the physical position must be
known to the positioning axis technology object.
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Drive Control Strategy
5.1 S7-1200 Configuration
Add a Positioning Axis Technology Object to the Project
Select ‘Add new object’ from under the Technology objects folder of the Project Tree.
Select the Motion Control area in the window that opens, then select TO_PositioningAxis. Give the
object a more meaningful name if necessary. Click OK to accept the new positioning axis object into the
project.
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Drive Control Strategy
5.1 S7-1200 Configuration
Configure the Technology Object
To setup the positioning axis object, go to the Configuration section located under the new technology
object from the Project Tree. From here you can use the graphical UI windows to set the necessary
technology object settings. Ensure that you have the Function view active, and that you are not online
to the PLC.
Axis Name
Drive
Switch between the 3 control methods: Pulse Train Output (PTO) Analogue drive connection, and
PROFIdrive. Changing this will affect the default values and units used in some of the other
settings. For the purpose of this example, set the control method to PTO.
Units of measurement
Set the default position and velocity units for the axis.
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Drive Control Strategy
5.1 S7-1200 Configuration
Basic Parameters - Drive
Select the pulse output to be used by the PLC to send pulses to the drive. For this application,
select Pulse_1.
Signal type
Select the pulse train type. For this application, select pulse A and direction B
Pulse output
This is auto set based on the output assignment set in the device configuration, if this is not set
up, select the ‘device configuration’ button. This will take you to the device view and display the
properties of the pulse output. Ensure that enable is ticked under ‘General’, and then select
‘Hardware outputs’ under properties and assign the pulse and direction output bits to Q0.0 and
Q0.1 respectively. Pulses 2, 3 and 4 need to be inactive, ensure that enable is not ticked under
‘General’.
Direction output
Again, this is auto set as above. Ensure the ‘Activate direction output’ box is ticked.
This is used to select the output used to send the enable signal form the PLC to the drive. For
this example, set this to Q0.2
This is used to set the input for the ready signal from the Drive to the PLC. For this application,
set this to I0.1 for PLC only operation. For operation with a signal board, set this to Iϰ.1, where ϰ
= the start address of the signal board.
This allows the user to configure the number of pulses the PLC needs to send to the SINAMICS
V90 for one revolution of the motor. Set this to the same value as parameter p29011.
This is the distance that the load will travel per revolution of the motor, e.g. for a ball screw, this
will be the pitch of the screw.
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Drive Control Strategy
5.1 S7-1200 Configuration
Permitted direction of rotation
The check box activates the function of the negative and positive hardware limit switches. With
enabled hardware limit switches, the drive is disabled when the hardware limit switch is
approached or overshot. The drive brakes with the braking ramp configured in the PLC.
Exception: If a hardware limit switch is overshot during an active home position approach with
activated direction reversal at the hardware limit switch, then the axis stops with the configured
maximum deceleration, and continues the home position approach in the opposite direction.
Negative / positive HW limit switch input: In these fields, select the PLC tags of the digital input
for the negative and positive HW limit switches.
Signal level selection: Select the triggering signal level ("Lower level" / "Upper level") of the
hardware limit switch. At "Lower level", the input signal is FALSE after the axis has reached or
passed the hardware limit switch. At "Upper level", the input signal is TRUE after the axis has
reached or passed the hardware limit switch.
Note Software position limits MUST be enabled in order to use the MC_CommandTable
function block.
For this application demo, the inputs I0.3 and I0.4 were used for the negative and positive
hardware limits. If you are using the signal board, then instead use inputs I0.1 and I0.2.
General
Configure the maximum move profile dynamics of the axis. Set the maximum velocity of the axis
and also the maximum acceleration and deceleration. For acceleration/deceleration you can
either enter a maximum value or you can specify the ramp time to/from maximum speed, the
other value is automatically calculated. The same applies for the maximum jerk setting; you can
either enter the maximum jerk value or enter the profile smoothing time. Jerk is enabled when
its maximum value is set greater than zero.
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Drive Control Strategy
5.1 S7-1200 Configuration
Emergency Stop
You may set either the maximum emergency stop deceleration value, or you may set the
emergency stop ramp-down time from the maximum velocity set in the Dynamic Limits section.
Active
In active homing mode, the Motion Control instruction "MC_Home" performs the configured home
position approach. Active traversing motions are aborted. When the reference mark is detected,
the position of the axis is set according to the configuration.
Digital input homing switch: select the digital input to use for the homing switch.
Approach velocity: set the velocity at which the axis moves until sensing the zero mark or homing
sensor.
Homing velocity: set the velocity at which the axis is homed after sensing the zero mark or homing
sensor.
Home position offset: enter the distance between the homing/zero mark and the home position.
Home position: the position to which the encoder is set once homing procedure is complete.
Passive
During passive homing, the motion control instruction "MC_Home" does not carry out any homing
motion. The traversing motion required for this step must be implemented by the user via other
motion control instructions. Active traversing motions are not aborted upon start of passive
homing. When the reference mark is detected, the axis is set according to the configuration.
Digital input homing switch: select the digital input to use for the homing switch.
Home position: the position to which the encoder is set once homing procedure is complete.
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Drive Control Strategy
5.1 S7-1200 Configuration
Position Monitoring Tolerance Time
Positioning window: configure the size of the positioning window between setpoint and actual
position. If the axis is located within this window, then the position is considered to be "reached".
Tolerance time: configure the tolerance time, in which the position value must reach the
positioning window.
Navigate to the Commissioning section located under the Technology Object in the Project Tree.
The axis control panel can be used to manually control the axis. This is useful for initially testing
that the axis has been configured correctly, can be moved, and that the position scaling is correct.
Activating master control on this panel removes all drive control from the PLC. The control panel
allows simple speed, position or manual control and also delivers some simple axis diagnostics
and actual values.
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Drive Control Strategy
5.1 S7-1200 Configuration
Diagnosing a Technology Object
Navigate to the Diagnostics section located under the Technology Object in the Project Tree.
This screen gives indicators to show common axis status, warning and faults. Clicking the green
arrows next to an indicator will take you to the respective configuration parameters that affect
this status.
Motion Status
Useful for easy viewing of the target and actual position, velocity and accelerations of an axis.
The S7-1200 can control up to 4 axes using this method, dependant on the CPU and number of pulse
train outputs, see AX.X from the appendix for more information. To add further axes, create additional
technology objects for each axis, ensuring to set unique addresses for each pulse train output and IO.
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Drive Control Strategy
5.2 Example Program
Whilst in an open program block window, browse to the Technology section of the Instructions window.
Open the Motion Control folder and drag and drop the appropriate block into the desired section of the
program block. A window will then open asking you to specify an instance for this function block. Give
the instance data block a name and click OK. The block is now added to the project.
For further information on any motion control function block, including an explanation of all input/output
parameters can be found in the TIA help documentation within the TIA software, simply highlight any of
the MC function blocks and press the F1 key. A detailed description of the blocks can also be found in
Appendix A3.2.
Motion control function block input parameters without a default value (e.g. “Axis”), must be supplied.
After specifying the technology object in the "Axis" parameter, the following buttons are available to you:
To open the configuration of the technology object, click on the toolbox icon.
To open the diagnostics of the technology object, click on the stethoscope icon.
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Drive Control Strategy
5.2 Example Program
Reset and Enable the Drive
Pull in MC_Power and MC_Reset function blocks. Assign the Technology object to the Axis input. An
example is given below:
You can now use MC_Reset_DB.Execute to reset any drive faults within the PLC, where
“MC_Reset_DB” is the name given to your instance data block of your MC_Reset function block.
You can now use MC_Power_DB.Enable to enable and disable the drive in your control program.
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Drive Control Strategy
5.2 Example Program
Jog the Axis
To jog the axis, add a MC_MoveJog function block into the program. Again, assign the technology object
to the Axis input:
Provided the drive is enabled, you can now use the MC_MoveJog_DB.JogForward and
MC_MoveJog_DB.JogBackward commands to jog the axis forwards and backwards respectively.
You can also use the MC_MoveJog_DB.Velocity parameter to set the jogging speed via your control
program or watch table.
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Drive Control Strategy
5.2 Example Program
Move the Axis at Velocity
To run the axis at a set velocity, insert a MC_MoveVelocity function block into the ladder program. Again,
assign the technology object to the Axis input:
A rising edge on the MC_MoveVelocity_DB.Execute command can now be used to trigger the axis to
run at the velocity specified by the MC_MoveVelocity_DB.Velocity parameter.
The MC_MoveVelocity_DB.Direction command can be used to set the motor rotation direction.
Note Setting the MC_MoveVelocity_DB.Execute parameter to FALSE will NOT stop the axis.
The MC_Halt block or another MC function block must be used to stop the axis.
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Drive Control Strategy
5.2 Example Program
Perform Relative Position Move
To perform relative position moves, insert a MC_MoveRelative function block into the ladder program.
Again, assign the technology object to the Axis input:
A rising edge on the MC_MoveRelative_DB.Execute command can now be used to trigger a relative
position move on the axis. The MC_MoveRelative_DB.Distance and MC_MoveRelative_DB.Velocity
commands can be used to set the traversing distance and speed respectively.
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Drive Control Strategy
5.2 Example Program
Home Axis and Perform an Absolute Position Move
To perform an absolute position move, the axis must first be homed. Insert both a ‘MC_Home’ and
‘MC_MoveAbsolute’ block and assign the technology object to the Axis input:
To Home the axis, the mode of operation must first be selected. For the homing procedure with an
external zero mark (such as a homing sensor) use MC_Home_DB.Mode = 3. To set the current position
of the axis as zero, use MC_Home_DB.Mode = 0 (this will instantly home with axis without turning the
motor shaft). You can then use the MC_Home_DB.Execute command to trigger the homing of the axis.
A rising edge on the MC_MoveAbsolute_DB.Execute command can now be used to trigger an absolute
position move on the axis. The MC_MoveAbsolute_DB.Position and MC_MoveRelative_DB.Velocity
commands can be used to set the traversing position and speed respectively.
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Drive Control Strategy
5.2 Example Program
Stop the Axis
In order to stop the axis whilst another motion command is executing, you will need to insert a MC_Halt
function block into the ladder program.
You can now use the MC_Halt_DB.Execute command to stop the axis from your control program or
from a watch table.
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Drive Control Strategy
5.2 Example Program
Change the Axis Dynamics
In order to alter the configured acceleration and deceleration ramps for the axis, you will need to insert
an MC_ChangeDynamic function block.
You can now use the inputs of this function block to configure the axis ramp up/down, jerk settings
and emergency stop ramp settings. The MC_ChangeDynamic_DB.Execute command is used to
transfer the new values to the drive.
Further Information
See the Siemens documentation on technology object motion control for further
info:
https://support.industry.siemens.com/cs/document/108577079/simatic-step-7-s7-1200-
motion-control-v13-sp1?dti=0&lc=en-GB
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Drive Control Strategy
5.2 Example Program
Control the Axis from a Watch Table
Once the ladder program is in place, a watch table can be used to actively modify variables within the
PLC. To add a watch table to the project, navigate to the ‘Watch and Force Tables’ folder under the PLC
in the project tree in TIA, then double click the ‘Add new watch table’.
Now enter all the parameters that you wish to modify into the Name column of the table.
In order to change the parameter values, you will need to be online to the PLC. To do this, ensure that
that the PLC is highlighted in the project tree and click the button.
For Boolean parameters, right-click anywhere on the row and select Modify > Modify to 0 or Modify to
1.
For non-Boolean parameters, enter the desired value into the Modify value column, then right click on
the row and select Modify > Modify now.
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Appendix
v0_0B 40
A0 Application Wiring with Signal Board
V0_0B 41
A1 Hardware Overview
A1.1 S7-1200 PLC Hardware Overview
Hardware Overview A1
A1.1 S7-1200 PLC Hardware Overview
Introduction
The SIMATIC S7-1200 controller is designed as a "compact" controller for smaller to mid-size automation
tasks. Additional signal modules and communication modules can be added depending on the size and
complexity of the automation task. The S7-1200 controller provides the flexibility and power to control
a wide variety of devices. The compact design, flexible configuration, and powerful instruction-set
combine to make the S7-1200 a perfect solution for controlling a wide variety of applications.
The CPU combines a microprocessor, an integrated power supply, input and output circuits, built-in
PROFINET, high-speed motion control I/O, and on-board analog inputs in a compact DIN rail mounted
housing.
CPUs
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A1.1 S7-1200 PLC Hardware Overview
The table below gives an overview of the current CPU models available along with their specifications.
The CPUs are available with either AC or DC supply, and relay or digital outputs depending on the part
number ordered.
Feature CPU 1211C CPU1212C CPU 1214C CPU 1215C CPU 1217C
Physical Size (mm) 90 x 100 x 75 110 x 100 x 75 130 x 100 x 75 150 x 100 x 75
Digital In 6 8 14
Digital Out 4 6 10
Local IO
Analog In 2 2 2 2 2
Analog Out - - 2 2 2
Below is a table outlining the maximum pulse frequencies for all CPU models of the SINAMICS S7-
1200.
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A1.1 S7-1200 PLC Hardware Overview
Expansion
The S7-1200 family provides a variety of modules and plug-in boards for expanding the capabilities of
the CPU with additional I/O or other communication protocols.
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A1.1 S7-1200 PLC Hardware Overview
• Digital Input
• Digital Output
• Relay Output
• Combination Input/Output
• Analog Input
• Analog Output
• Combination Analog Input/Output
• Thermocouple and RTD
• GPRS (not approved for maritime applications)
• Profibus Communication (Master and Slave)
• ASi
• RS232, RS422 and RS485
• CANopen
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A1 Hardware Overview
A1.1 S7-1200 PLC Hardware Overview
SD Memory Card
An SD card is not necessary for the S7-1200 CPU to function, but it can be used either as a transfer card
or as a program card. Any program that you copy to the memory card contains all of the code blocks and
data blocks, any technology objects, and the device configuration. A copied program does not contain
force values.
Note The CPU supports only the pre-formatted SIMATIC memory cards. Before you copy
any program to the formatted memory card, delete any previously saved program from
the memory card.
Use a transfer card to copy a program to the internal load memory of the CPU without using STEP
7
After you insert the transfer card, the CPU first erases the user program and any force values from the
internal load memory, and then copies the program from the transfer card to the internal load memory.
When the transfer process is complete, you must remove the transfer card.
You can use an empty transfer card to access a password-protected CPU when the password has been
lost or forgotten. Inserting the empty transfer card deletes the password-protected program in the
internal load memory of the CPU. You can then download a new program to the CPU.
Inserting a program card in the CPU erases all of the CPU internal load memory (the user program and
any force values). The CPU then executes the program in external load memory (the program card).
Downloading to a CPU that has a program card updates only the external load memory (the program
card). Because the internal load memory of the CPU was erased when you inserted the program card,
the program card must remain in the CPU. If you remove the program card, the CPU goes to STOP mode.
(The error LED flashes to indicate that program card has been removed.)
Warning
Verify that the CPU is not running a process before inserting the memory card.
Do not insert V3.0 program transfer cards into S7-1200 V4.0 CPUs.
LED Display
AS well as individual LEDs to indicate the status of the local IO on the CPU, the S7-1200 controller also
has three integrated LEDs to provide operational status of the module or IO.
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A1 Hardware Overview
A1.1 S7-1200 PLC Hardware Overview
They are RUN/STOP, ERROR and MAINT.
The module status can be determined from the LEDs using the table below.
Further Information
The ‘S7-1200 Easy book’ is an introduction to the S7-1200 PLC and can be found
here:
https://support.industry.siemens.com/cs/gb/en/view/39710145/73836356363
Further Information
The S7-1200 System Manual contains detailed information and can be found here:
https://support.industry.siemens.com/cs/gb/en/view/107623221/73837491339
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A1 Hardware Overview
A1.1 S7-1200 PLC Hardware Overview
Further Information
See the Siemens documentation on technology object motion control for further
info:
https://support.industry.siemens.com/cs/gb/en/view/108577079
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A1 Hardware Overview
A1.2 SINAMICS V90 Hardware Overview
Introduction
The SINAMICS V90 is designed to meet general purpose servo drive applications. It is easy to
commission the SINAMICS V90 system - essentially just plug & play. Further, it has optimized servo
performance, can be quickly integrated into SIMATIC PLC control systems and has a high degree of
reliability. A seamless drive system is created by combining SINAMICS V90 servo drive with the
SIMOTICS S-1FL6 servomotor.
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A1 Hardware Overview
A1.2 SINAMICS V90 Hardware Overview
Connecting the cable shields with the shielding plate
To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped with the drive
to connect the cable shields. See the following example for steps to connect cable shields with the
shielding plate:
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A1 Hardware Overview
A1.2 SINAMICS V90 Hardware Overview
Standard Wiring for (PTI) Pulse Train Input
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A1.2 SINAMICS V90 Hardware Overview
Control/Status interface - X8
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A1.2 SINAMICS V90 Hardware Overview
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A1.2 SINAMICS V90 Hardware Overview
Overview of the Integrated BOP
The SINAMICS V90 servo drive has been designed with a Basic Operator Panel (BOP) located on the
front of the servo drive:
Button Functions:
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A1.2 SINAMICS V90 Hardware Overview
Operating instructions
Refer to the ‘SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions’ for more
detailed information.
https://support.industry.siemens.com/cs/gb/en/view/109480673
Further Information
The SINAMICS V90 Getting Started Manual contains detailed information and
can be found here:
https://support.industry.siemens.com/cs/gb/en/view/108586654
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A2 Overview of the Programming Environment
A2.1 Overview of TIA Portal
Introduction
This document provides an overview of the TIA (Totally Integrated Automation) Portal programming
environment. It covers the basic user interfaces available with TIA Portal, and some of the more
frequently used functions. It does not however cover all of the functions available with TIA Portal. More
information can be found in the SIMATIC STEP 7 Professional System Manual, of which several pages
have been taken and used this document. See link below.
Further Information
SIEMENS SIMATIC STEP 7 Professional V13.0 System Manual. This document is
nearly 200MB in size.
https://support.industry.siemens.com/cs/attachments/89515142/STEP_7_Professional_V13_
enUS_en-US.pdf
TIA Portal is an integrated software programming environment. It is used for configuring, programming
and commissioning an entire automation system, including multiple related automation devices such as
PLCs, HMIs and Drives in one integrated project. It is a progression from SIMATIC MANAGER or STEP
7 Classic, performing similar tasks but in a more user friendly and integrated fashion.
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A2 Overview of the Programming Environment
A2.1 Overview of TIA Portal
Opening, creating and closing projects
Open TIA Portal, the Start screen is where a project can be opened, created or closed.
Recently used projects are automatically displayed, but the user can “Browse” to other folders to
select a project stored there instead.
Click on “Create new project” to bring up a dialog where the project name and storage location are
entered, or select a recently used project and click “Open”.
“Close project” on the start screen is one option for closing projects in TIA.
“Project view” changes the look and functionality of the user interface, and it is the HMK
recommended view for working on projects.
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A2.1 Overview of TIA Portal
Project View
Project view gives access to much more information and functionality on all devices in the project at one
time. The following picture is taken from the SIEMENS SIMATIC STEP 7 Professional V13.0 System
Manual.
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A2.1 Overview of TIA Portal
Currently the only drives which can be selected here are G110M and G120 (including C, D and P). Other
drives and automation devices must be added using the Hardware catalog, detailed in the Devices &
networks section.
Locate the device you wish to add, make sure the article number and version number are correct!
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A2.1 Overview of TIA Portal
Accessible devices
Select the highlighted icon below to open the accessible nodes dialog.
With this dialog it is possible to view all accessible devices that are connected to, or on the same network
as the programmer. Select the PG/PC interface (the connection interface you expect to see devices
connected to) and click “Start search”. The list will populate with all the devices the programmer can
see. It is possible to highlight a device in the list and press “Flash LED”, this will flash the LED on the
actual device, this can be useful if you have multiple devices of the same type connected. Clicking the
“Show” button will open the selected object in the Online access folder of the Project tree. From here
such functions as re-assigning the IP address, viewing diagnostics, resetting to factory defaults and
firmware updates are possible. See Online & diagnostics section later in this document.
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A2.1 Overview of TIA Portal
Devices & networks
Double click on “Devices & networks” in the Project tree to open the following work area.
This work area is used to configure properties and connections of networks and devices, as well as
adding new devices. By default, the “Hardware catalog” will open in the Task cards area. The
Hardware catalog is where other devices can be added into the project by dragging and dropping in to
the work area. Double click on a device in the work area to open the “Device view”. The properties
tab at the bottom of the screen will display and allow editing of selected object properties, and the
Hardware catalog is automatically filtered to display sub-modules that can be dragged into the work
area or Device overview area, depending on the device and sub module.
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A2.1 Overview of TIA Portal
Global libraries
Global libraries are available from the Libraries task card. They contain objects and functions that can
be dragged and dropped into various elements of the user project. Certain libraries are installed as part
of the TIA environment, but other libraries can be downloaded from the web, or even be created by the
user to contain custom user-created elements that are then available to be used in later projects, or
exported for other users to access.
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A2.1 Overview of TIA Portal
Download and go online
Select the device in the Project tree. If you are currently offline the options to “Download” (arrow
down) and “Go online” and available. If you are currently online the options to “Upload” (arrow up)
or Go offline” are available.
Figure 54 - Download/upload
A download is defined as FROM the programmer TO the device, and an upload is FROM the device TO
the programmer.
The first time you download to a device you will be presented with the dialog below. Use the drop down
boxes to select your PG/PC interface (the method you expect to connect to the device with) and click “
Search”.
If your device appears in the list, select it and click “Load” to begin the download. If your device does
not appear in the list, check your PG/PC interface settings and physical network connections.
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A2 Overview of the Programming Environment
A2.1 Overview of TIA Portal
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A2.1 Overview of TIA Portal
Online & diagnostics
Once an online connection has been established, the bar at the top of the Work area will become orange,
the bottom right of the TIA portal window will display the connection device and status and the “Online
tools” card will automatically open, shown on the right of the screenshot below.
Double click on the “Online & diagnostics” entry under the desired device in the Project tree to open
the work area shown above. This work area gives access to various online functions such as Firmware
updates, time setting etc., and also diagnostic information such as the PLC diagnostic buffer (shown).
While online an automatic online/offline comparison is done, and the results are shown as coloured
icons down the right hand side of the Project tree. The meaning of the icons is shown in the table below,
taken from the SIEMENS SIMATIC STEP 7 Professional V13.0 System Manual.
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A2 Overview of the Programming Environment
A2.1 Overview of TIA Portal
PLC programming
Commonly used controls for PLC programming in the Project tree include “Program blocks” where
blocks can be created or dragged in from a library. “PLC tags” where tags are created and organised,
“PLC data types” which can be user created or dragged from the library and “Watch and force tables
” which are useful for monitoring and setting tags in the PLC.
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A2 Overview of the Programming Environment
A2.1 Overview of TIA Portal
Cross references are available in the Inspector window, cross references are available for blocks as well
as tags and can follow through to other devices in the project, i.e. a tag that is used in the PLC and HMI
will show cross references to both objects.
Programming instructions that are available can be found in the “Instruction” card, above on the right.
These can be dragged in to the work area.
Clicking on the “Glasses” will enable online viewing of the work area (if the programmer is connected
to the device). This is very useful for fault finding in programming code.
Projects can be easily moved, shared, emailed etc. if they are archived. Archiving is creating a zipped
file, the extension of the zipped file is .zap13 for a TIA V13 project or .zap12 for a TIA V12 project.
To open an archived project file, it first needs to be “retrieved”. Once retrieved it can be opened in
the normal manner as detailed earlier.
Highlight the project in the Project tree, and click “Project” in the Menu bar. Choose from the option
of Archive or Retrieve.
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A2 Overview of the Programming Environment
A2.2 Overview of V-ASSISTANT
To work in ‘online’ mode, connect the Drive via USB to the PG/PC. It will appear in the ‘online’ tab. Select
the drive and select ‘OK’ to start working.
To Work in ‘Offline’ mode, select one of the options: Create a new project, or open an existing project to
continue previous work. Select ‘OK’ to start working.
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A2 Overview of the Programming Environment
A2.2 Overview of V-ASSISTANT
User Interface Layout
1. Menu bar
2. Toolbar
3. Task navigation
4. Function Mask
5. Alarm Window
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A2.2 Overview of V-ASSISTANT
Menu bar
The menu bar is located at the top of the SINAMICS V-ASSISTANT window. You can find various
commands and functions for basic operations of SINAMICS V-ASSISTANT.
Toolbar
The toolbar is located below the menu bar and provides direct access to the essential functions of
SINAMICS V-ASSISTANT.
Task navigation
Task navigation lists the user tasks for users to fulfil. Each task contains different functions which
facilitate users to parameterize all functions of SINAMICS V90 drives and monitor or diagnose the drives.
Function mask
The function mask provides the user interface of each user task for users to implement related functions.
Alarm window
In online mode, the current faults and alarms are displayed in a list with the corresponding type, number
and name. In offline mode, the alarm window is disabled.
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A2 Overview of the Programming Environment
A2.2 Overview of V-ASSISTANT
‘Select Drive’ Tab
1. Drive Selection
2. Motor Selection
3. Control Mode
4. Jog
Note When working in online mode, the select drive button will be greyed out.
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‘Parameterize’ Tab
Note Some of the displayed options are not available in all control modes.
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Setting the Electronic Gear Ratio Sub-tab
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A2.2 Overview of V-ASSISTANT
Set Parameter Setpoint Sub-tab
Signal selection: Allows the user to select the pulse method used.
Signal level selection: Allows the user to select the type of pulse input. Hovering over ‘Wiring’
shows a diagram of the pulse input type.
Position Setpoint smoothing time: Allows the user to define the smoothing time constant.
Position reached window: Allows the user to define the positioning window tolerances in Load
Units (LU).
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A2 Overview of the Programming Environment
A2.2 Overview of V-ASSISTANT
Configure I/O Sub-tab
Inputs:
Allows the user to assign Digital Inputs. The inputs can also be set permanently high using the tick boxes
on the right hand side.
Outputs:
Allows the user to change the assignment of the outputs, such as the ready signal.
Further Information
The V-ASSISTANT Manual contains more detailed information about the V-
ASSISTANT software and the commissioning of a SINAMICS V90 drive. Download
V-ASSISTANT at:
https://support.industry.siemens.com/cs/gb/en/view/109480674
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A3 Technology Objects
A3.1 Technology Object Data Block
Technology Objects A3
A3.1 Technology Object Data Block
The technology data block represents the technology object and contains all configuration data, setpoint
and actual values, and status information of the technology object. The technology data block is
automatically created when the technology object is created. In your user program you can access the
technology data block's data.
Individual status and error information from the "StatusBits" and "ErrorBits" Boolean structures are
available for use in the user program.
The <TO>.StatusBits structure contains the status information of the technology object.
Tag Description
Activated Axis is activated
Enable Axis is enabled
HomingDone Axis is homed
Done No Motion Control job is active on the axis
Error An error has occurred on the axis
Standstill Axis is at a standstill
PositioningCommand Axis executes a positioning job
VelocityCommand Axis executes a job with velocity specification
HomingCommand Axis executes a homing job
CommandTableActive Command table is being processed
ConstantVelocity Axis traverses with a constant velocity
Accelerating Axis is accelerating
Decelerating Axis is decelerating
ControlPanelActive Manual control mode was enabled in the axis control panel
DriveReady Drive is ready
RestartRequired Restart required
SWLimitMinActive Status of lower software limit switch
SWLimitMaxActive Status of upper software limit switch
HWLimitMinActive Status of lower hardware limit switch
HWLimitMaxActive Status of upper hardware limit switch
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A3 Technology Objects
A3.1 Technology Object Data Block
Data Block ErrorBits Structure
The <TO>.ErrorBits structure contains the error information of the technology object.
Tag Description
All technology alarms that can be acknowledged in the user program are acknowledged with the Motion
Control instruction "MC_Reset". Acknowledgment also resets the "Error" and "Warning" bits in the
appropriate technology data block.
Technology objects are reinitialized (restarted) using the Motion Control instruction "MC_Reset" with
"Restart" = TRUE. Upon restart of the technology object, the new configuration data are applied in the
technology data block.
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A3 Technology Objects
A3.2 Technology Object Function Blocks
The Motion Control instruction "MC_Power" is used to enable and disable technology objects.
An axis is enabled and then disabled again. When the drive has signaled "Drive ready" back to the CPU, the
①
successful enable can be read out via "Status_1".
Following an axis enable, an error has occurred that caused the axis to be disabled. The error is eliminated and
②
acknowledged with "MC_Reset". The axis is then enabled again.
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A3 Technology Objects
A3.2 Technology Object Function Blocks
Using the MC_Home Function Block
With the Motion Control instruction "MC_Home", you create the relationship between the position in the
technology object and the mechanical position. The position value in the technology object is assigned
to a homing mark at the same time. This homing mark represents a known mechanical position.
The homing process occurs according to the mode selected with the "Mode" parameter, and the
configuration under "Technology object > Configuration > Extended parameters > Homing".
The homing method to be used should be selected depending on the encoder type used on the axis.
Mode Direction
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A3 Technology Objects
A3.2 Technology Object Function Blocks
Using the MC_MoveJog Function Block
The MC_MoveJog function is used to manually jog the axis in either direction.
The axis is moved in the positive direction in jog mode via "Jog_F". When the target velocity 50.0 is reached, this is
①
signaled via "InVel_1". After "Jog_F" is reset, the axis is braked to a standstill.
The axis is moved in the negative direction in jog mode via "Jog_B". When the target velocity -50.0 is reached, this is
signaled via "InVel_1".
② When "Jog_B" is set, the value at parameter "Velocity" changes to 25.0. "InVel_1" is reset and the axis is braked.
When the new target velocity -25.0 is reached, this is signaled via "InVel_1". After "Jog_B" is reset, the axis is braked
to a standstill.
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A3 Technology Objects
A3.2 Technology Object Function Blocks
Using the MC_MoveVelocity Function Block
With the Motion Control instruction "MC_MoveVelocity", you can move an axis with a constant velocity.
An active MC_MoveVelocity command signals via "InVel_1" that its target velocity has been reached. It is then
① aborted by another MC_MoveVelocity command. The abort is signaled via "Abort_1". When the new target velocity
15.0 is reached, this is signaled via "InVel_2". The axis then continues moving at the new constant velocity.
An active MC_MoveVelocity command is aborted by another MC_MoveVelocity command prior to reaching its target
② velocity. The abort is signaled via "Abort_1". When the new target velocity 15.0 is reached, this is signaled via
"InVel_2". The axis then continues moving at the new constant velocity.
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A3 Technology Objects
A3.2 Technology Object Function Blocks
Using the MC_MoveRelative Function Block
This function block is used to move an axis relative to the position that exists at the beginning of job
processing. Dynamic behaviour during movement is defined with the parameters "Velocity", "Jerk",
"Acceleration" and "Deceleration".
The axis is moved by an MC_MoveRelative command by the distance ("Distance") 1000.0. When the axis reaches the
target position, this is signaled via "Done_1". When "Done_1" = TRUE, another MC_MoveRelative command, with
① travel distance 500.0, is started. Because of the response times (e.g., cycle time of user program, etc.), the axis comes
to a standstill briefly (see zoomed-in detail). When the axis reaches the new target position, this is signaled via
"Done_2".
An active MC_MoveRelative command is aborted by another MC_MoveRelative command. The abort is signaled via
② "Abort_1". The axis is then moved at the new velocity by the new distance ("Distance") 500.0. When the new target
position is reached, this is signaled via "Done_2".
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A3 Technology Objects
A3.2 Technology Object Function Blocks
Using the MC_MoveAbsolute Function Block
Use this function block to move the axis to an absolute position. Dynamic behaviour during movement
is defined with the parameters "Velocity", "Jerk", "Acceleration" and "Deceleration".
An axis is moved to absolute position 1000.0 with an MC_MoveAbsolute command. When the axis reaches the target
position, this is signaled via "Done_1". When "Done_1" = TRUE, another MC_MoveAbsolute command, with target
①
position 1500.0, is started. Because of the response times (e.g., cycle time of user program, etc.), the axis comes to a
standstill briefly (see zoomed-in detail). When the axis reaches the new target position, this is signaled via "Done_2".
An active MC_MoveAbsolute command is aborted by another MC_MoveAbsolute command. The abort is signaled via
② "Abort_1". The axis is then moved at the new velocity to the new target position 1500.0. When the new target position
is reached, this is signaled via "Done_2".
① The axis is braked by an MC_Halt command until it comes to a standstill. The axis standstill is signaled via "Done_2".
While an MC_Halt command is braking the axis, this command is aborted by another motion command. The abort is
②
signaled via "Abort_2".
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A3 Technology Objects
A3.2 Technology Object Function Blocks
This function block is used to perform a sequence of motion commands.
Default
Parameter Declaration Data type Description
Value
Execute INPUT BOOL FALSE Command table start with positive edge
StartStep INPUT INT 1 Defines the step at which the execution of the
command table should begin
Limit values:
1 ≤ StartStep ≤ EndStep
Limit values:
StartStep ≤ EndStep ≤ 32
CommandAborted OUTPUT BOOL FALSE The command table was cancelled by another
command.
Declaratio
Parameter Data type Default Value Description
n
Axis INPUT TO_SpeedAxi - Axis technology object
s
Execute INPUT BOOL FALSE Start of the command with a positive edge
ChangeRampUp INPUT BOOL FALSE Change ramp-up time in line with input
parameter "RampUpTime"
RampUpTime INPUT REAL 5 Time (in seconds) to accelerate axis from
standstill to configured maximum velocity without
jerk limit.
The change will influence the tag <Axis name>.
Config.DynamicDefaults.Acceleration. For the
effectiveness of the change, refer to the
description of this tag.
ChangeRampDown INPUT BOOL FALSE Change ramp-down time to correspond to input
parameter "RampDownTime"
RampDownTime INPUT REAL 5 Time (in seconds) to decelerate axis from the
configured maximum velocity to standstill without
jerk limiter.
The change will influence the tag <Axis name>.
Config.DynamicDefaults.Deceleration . For the
effectiveness of the change, refer to the
description of this tag.
ChangeEmergency INPUT BOOL FALSE Change emergency stop ramp-down time in line
with input parameter "EmergencyRampTime"
EmergencyRampTime INPUT REAL 2 Time (in seconds) to decelerate the axis from
configured maximum velocity to standstill without
jerk limiter in emergency stop mode.
The change will influence the tag <Axis name>.
Config.DynamicDefaults.EmergencyDeceleration .
For the effectiveness of the change, refer to the
description of this tag.
ChangeJerkTime INPUT BOOL FALSE Change smoothing time according to the input
parameter "JerkTime"
JerkTime INPUT REAL 0.25 Smoothing time (in seconds) used for the axis
acceleration and deceleration ramps
The change will influence the tag <Axis name>.
Config.DynamicDefaults.Jerk . For the
effectiveness of the change, refer to the
description of this tag.
Done OUTPUT BOOL FALSE The changed values have been written to the
technology data block. The description of the
tags will show when the change becomes
effective.
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A3 Technology Objects
A3.2 Technology Object Function Blocks
Error OUTPUT BOOL FALSE An error occurred during execution of the
command. The cause of the error can be found in
parameters "ErrorID" and "ErrorInfo".
ErrorID OUTPUT WORD 16#0000 Error ID for parameter "Error"
ErrorInfo OUTPUT WORD 16#0000 Error info ID for parameter "ErrorID"
This function block allows you to write to tags of the axis technology object. In contrast to the value
assignment of tags within the user program, with this function block you can also change the values of
read-only tags.
Execute INPUT BOOL FALSE Start of the command with a positive edge
Done OUTPUT BOOL FALSE Value was written
Busy OUTPUT BOOL FALSE The command is being executed
Error OUTPUT BOOL FALSE An error occurred during execution of the
command. The cause of the error can be found in
parameters "ErrorID" and "ErrorInfo".
ErrorID OUTPUT WORD 16#0000 Error ID for parameter "Error"
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A3 Technology Objects
A3.2 Technology Object Function Blocks
Using the MC_ReadParam Function Block
This function block allows for continuous reading of motion and status data from a technology object
axis.
Enable INPUT BOOL FALSE Read the tag specified with the "Parameter" and
store the value in the destination address
specified with "Value".
Parameter INPUT VARIANT - VARIANT pointer to the value to be read. The
(REAL) following tags are permitted:
<Axis name>.Position
<Axis name>.Velocity
<Axis name>.ActualPosition
<Axis name>.ActualVelocity
<Axis name>.StatusPositioning.<Tag name>
<Axis name>.StatusDrive.<Tag name>
<Axis name>.StatusSensor.<Tag name>
<Axis name>.StatusBits.<Tag name>
<Axis name>.ErrorBits.<Tag name>
The description of the tags named and the tag
structures can be found in the Appendix Tags of
the positioning axis technology object as of V4.
Value INOUT VARIANT - VARIANT pointer to the target tag or destination
(REAL) address to which the read value is to be written.
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A4 Tuning the SINAMICS V90 Drive
A4.1 One Button Auto-Tuning
One-button auto tuning estimates the machine load moment of inertia and mechanical characteristics
with internal motion commands. To achieve the desired performance, you can execute the process many
times before you control the drive with the host controller. The maximum speed is limited by the rated
speed.
Note The one-button auto tuning function is valid for V-ASSISTANT firmware version
V1.04.00 and higher.
Note Before using the one-button auto tuning, move the servo motor to the middle of
mechanical position to avoid approaching the actual machine position limit.
• The ratio of machine load moment of inertia is unknown and needs to be estimated.
• The motor is allowed to rotate both clockwise and anti-clockwise.
• The motor rotation position (p29027 defines that one revolution equals to 360 degree) is allowed
by the machine.
- For a motor with an absolute encoder: position limitation is defined by p29027.
- For a motor with an incremental encoder: the motor must be allowed to rotate freely
by two turns when tuning starts.
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A4 Tuning the SINAMICS V90 Drive
A4.1 One Button Auto-Tuning
2. Configure the test signal in the section below:
Note
The recommended position amplitude (p29027) is 360 degrees.
3. Click on the following button to configure the parameters for the one-button auto tuning
function.
Set the ratio of machine load moment of inertia (p29022) with either of the following methods:
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A4 Tuning the SINAMICS V90 Drive
A4.1 One Button Auto-Tuning
- Estimate the ratio with the one-button auto-tuning (p29023.2 = 1). When you have
executed the tuning many times and have obtained a stable value of p29022, you can
stop estimating it by setting p29023.2 = 0.
5. Click the following button to enable the tuning function after the parameters have been set.
Press the ‘Accept’ button to apply the values obtained through the tuning function, or press the
‘Abort’ button to revert back to the old values.
8. Once the tuning is complete and the drive performance is acceptable, perform a ‘Save Parameters
to ROM’ function to save the tuning values in the drive.
Note After servo on, the motor will run with the test signal.
When the one-button auto tuning process completes successfully, the parameter
p29021 will be set to 0 automatically. You can also set the parameter p29021 to 0 before
servo on to interrupt the one-button auto tuning. Before you save the parameters on
the drive, make sure that p29021 has changed to 0.
Note Do not use the JOG function when you use the one-button tuning function.
Note After the one-button tuning function is activated, no operation will be allowed except
the
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A4 Tuning the SINAMICS V90 Drive
A4.1 One Button Auto-Tuning
servo off and emergency stop.
Note After one-button auto tuning is activated, do not change other auto tuning related
control/filter parameters since these parameters can be set automatically and your
changes will not be accepted.
Note One-button auto tuning can cause some changes of the control parameters. When the
system rigidity is low, this may lead to a situation that when you set EMGS = 0, the
motor
needs take long time to emergency stop.
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A5 Revision History
Revision History A5
Version Date Change
V0_0B 93